Missing header file glfw_adapter.h causes build failure

[viatoris-sudo]

Hello Unitree team,

While building the latest version of unitree_mujoco on Ubuntu 22.04 with ROS 2 Humble,
the build fails with the following error:

fatal error: glfw_adapter.h: No such file or directory
17 | #include "glfw_adapter.h"
| ^~~~~~~~~~~~~~~~

I’ve checked the repository, but glfw_adapter.h is not present in any subdirectory.
Could you please clarify where this header should come from?
Is it part of an internal SDK or was it omitted by mistake?

Steps to reproduce:

1. git clone https://github.com/unitreerobotics/unitree_mujoco.git
2. colcon build --symlink-install

Environment:

• Ubuntu 22.04
• ROS 2 Humble
• MuJoCo 3.1.6
• GCC 11.4.0

Thanks in advance!

[sangregoriokimpo]

having the same error but im on ubuntu 20.04 , using ros2 foxy and mujoco 3.3.6

[sangregoriokimpo]

The error can be fixed by doing sudo apt install libglfw3-dev, but unitree_mujoco still cant be built because of this new error:

/home/sgq/unitree_mujoco/simulate/mujoco/simulate/simulate.cc:30:10: fatal error: lodepng.h: No such file or directory
   30 | #include "lodepng.h"
      |          ^~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/unitree_mujoco.dir/build.make:118: CMakeFiles/unitree_mujoco.dir/mujoco/simulate/simulate.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:85: CMakeFiles/unitree_mujoco.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

this happened to me on ubuntu 22.04 and ubuntu 20.04 with their respective ROS2 humble/foxy

[Agnel-Wang]

Please have a look at the latest installation method

1. glfw_adapter.h
   This file is in the mujoco release pakcage, "mujoco/simulate/glfw_adapter.h"
2. lodepng.h
   It has been commented in mujoco-3.3.0 & 3.3.6 (Which I have tested)

[wangyan-hlab]

Please have a look at the latest installation method

1. glfw_adapter.h
   This file is in the mujoco release pakcage, "mujoco/simulate/glfw_adapter.h"
2. lodepng.h
   It has been commented in mujoco-3.3.0 & 3.3.6 (Which I have tested)

Hi, I installed according to the latest installation method and met the same error as @sangregoriokimpo:

/home/yan/unitree_mujoco/simulate/mujoco/simulate/simulate.cc:30:10: fatal error: lodepng.h: No such file or directory
   30 | #include "lodepng.h"
      |          ^~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/unitree_mujoco.dir/build.make:118: CMakeFiles/unitree_mujoco.dir/mujoco/simulate/simulate.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 80%] Linking CXX executable jstest
make[1]: *** [CMakeFiles/Makefile2:85: CMakeFiles/unitree_mujoco.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 80%] Built target jstest
make: *** [Makefile:91: all] Error 2

What should I exactly do to solve the problem?
Thanks.

[Agnel-Wang]

Both glfw and lodepng are dependencies of MuJoCo itself.
If we build MuJoCo from source, they are installed automatically through CMake. However, since we are using the prebuilt release package, these dependencies are not included.
In the earlier version of unitree_mujoco, simulate.cc had been modified, and those parts were commented out.

glfw can be installed directly via apt, and I have added this step to the README.

lodepng is only available from its Git repository, so I included it directly in this repository.

[sangregoriokimpo]

glfw and lodepng issue seems to be fixed, but now there is a new issue.

/usr/bin/ld: skipping incompatible /home/sgq/unitree_mujoco/simulate/mujoco/lib/libmujoco.so when searching for -lmujoco
/usr/bin/ld: cannot find -lmujoco: No such file or directory
/usr/bin/ld: skipping incompatible /home/sgq/unitree_mujoco/simulate/mujoco/lib/libmujoco.so when searching for -lmujoco
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/unitree_mujoco.dir/build.make:196: unitree_mujoco] Error 1
make[1]: *** [CMakeFiles/Makefile2:85: CMakeFiles/unitree_mujoco.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

[Agnel-Wang]

glfw and lodepng issue seems to be fixed, but now there is a new issue.

/usr/bin/ld: skipping incompatible /home/sgq/unitree_mujoco/simulate/mujoco/lib/libmujoco.so when searching for -lmujoco
/usr/bin/ld: cannot find -lmujoco: No such file or directory
/usr/bin/ld: skipping incompatible /home/sgq/unitree_mujoco/simulate/mujoco/lib/libmujoco.so when searching for -lmujoco
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/unitree_mujoco.dir/build.make:196: unitree_mujoco] Error 1
make[1]: *** [CMakeFiles/Makefile2:85: CMakeFiles/unitree_mujoco.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

You downloaded the incompatible lib.

https://github.com/google-deepmind/mujoco/releases/download/3.3.7/mujoco-3.3.7-linux-x86_64.tar.gz

[Raviteja-T]

Installation Steps

1. Install System Dependencies
   bash
   sudo apt update
   sudo apt install -y
   libyaml-cpp-dev
   libspdlog-dev
   libboost-all-dev
   libglfw3-dev
   libgl1-mesa-dev
   libglew-dev
   libosmesa6-dev
   libxi-dev
   build-essential
   cmake
   git
   wget
   unzip
2. Install MuJoCo
   Download MuJoCo
   bash

Create mujoco directory

mkdir -p ~/.mujoco
cd ~/.mujoco

Download MuJoCo 3.3.6 (check https://github.com/google-deepmind/mujoco/releases for latest version)

wget https://github.com/google-deepmind/mujoco/releases/download/3.3.6/mujoco-3.3.6-linux-x86_64.tar.gz

Extract

tar -xzf mujoco-3.3.6-linux-x86_64.tar.gz
mv mujoco-3.3.6 mujoco

Set environment variables

echo 'export MUJOCO_PY_MUJOCO_PATH=~/.mujoco/mujoco' >> /.bashrc
echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/.mujoco/mujoco/bin' >> ~/.bashrc
source ~/.bashrc
3. Install unitree_sdk2
bash

Clone and install unitree_sdk2

sudo mkdir -p /opt/unitree_robotics
sudo chown $USER:$USER /opt/unitree_robotics

git clone https://github.com/unitreerobotics/unitree_sdk2.git
cd unitree_sdk2
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/opt/unitree_robotics
make -j$(nproc)
sudo make install

Set environment variable

echo 'export UNITREE_SDK2_PATH=/opt/unitree_robotics' >> ~/.bashrc
source ~/.bashrc
4. Clone and Build unitree_mujoco
bash

Clone the repository

git clone https://github.com/unitreerobotics/unitree_mujoco.git
cd unitree_mujoco

Create symbolic link to mujoco

cd simulate
ln -s ~/.mujoco/mujoco mujoco

Build the C++ simulator

mkdir build && cd build
cmake ..
make -j$(nproc) try this. @viatoris-sudo @sangregoriokimpo